Dual Dijkstra search for paths with different topologies

This paper describ esa new search algorithm, Dual Dijkstra Search. F roma given initial and nal conguration, Dual Dijkstra Search nds various paths which have di er enttop olo giessimultaneously. This alo grithm allows you to enumerate not only the optimal one but variety of meaningful candidates among local minimum paths. It is based on the algorithm of Dijkstra[10], which is populary used to nd an optimal solution. The method consists of two procedures: First computes local minima and ranks the paths in order of optimality. Then classify them with their topological properties and take out only the optimal paths in each groups. Computed examples include generating collision-free motion along 2D space and motion planning of 3DOF robot. We also proposed the idea of motion compression, which simpli es the high dimensional motion planning problem. T ogetherwith this idea, we applie dDual Dijkstra Se arch to 7DOF arm manipulation problem and succeededin obtaining variety of motion candidates.